Friday, February 20, 1998
4:00 - 5:00 pm
This model for running is by no means unique to robotics. In fact, Raibert's inspiration came in part due to the appearance of the SLIP model in the biomechanics literature. Indeed, biomechanists have shown it to be a good descriptive model for the center of mass trajectories for runners as diverse as humans, horses, cockroaches and crabs.
Despite its ubiquity in both the biomechanics and robotics literature, the formal implications of SLIP-like running remain largely unexplored. In this talk we will offer a broad survey of the encouraging results we have obtained through careful consideration of the resulting SLIP dynamics. In particular, we will present approximate solutions to the SLIP dynamics which are independent of the particular spring potential model under consideration. Furthermore, we will discuss the implications of these results on controller analysis and design (for both explicitly SLIP-like legs as well as more anthropomorphic legs) and the design and analysis biomechanics experiments.
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